[t]
Solution method of (REF )

[1]
Initial temporal assignment \(T_0\) , initial spatial assignment \(\xi _0\) , spatial step size \(\alpha _1\) , temporal step size \(\alpha _2\) , and termination condition \(\mathcal {C}\) .
Optimal spatial and temporal assignment \((\xi ^*,T^*)\)  and polynomial coefficients \(\sigma ^*\) .
\((\xi ,T) \leftarrow (\xi _0,T_0 )\) 
\(\mathcal {C}\)  is FALSE
Solve the (REF ) using a QP solver (with the parameters \(P(T)\) , \(q(T)\) , \(A(T)\) , \(b\) , \(C(T)\) , \(\xi \) ) to obtain the optimal solution \(\sigma ^*\)  and optimal value \(J^*\) 
Obtain the gradients \(\partial J^* / \partial \xi \)  and \(\partial J^* / \partial T\)  using OptNet [1]} and chain rule in (REF )
Use the projected gradient descent in (REF ) to update \(\xi \)  and \(T\)  .
\((\xi ^*,T^*) \leftarrow (\xi ,T)\) 
\((\xi ^*,T^*)\)  and \(\sigma ^*\) .
